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Figure 2


Fig. 2. Kinematic, energetics and estimated force data for three subjects: one human (Mb=69.0 kg, hindlimb L=95cm, red circles), one goat (Mb=23, L=43.5, yellow triangles), and one dog (Mb=26.3, L=39, blue squares). Each point represents one subject at one speed. Open-centered points indicate walking trials, while filled points represent running trials. (A) The rate of oxygen consumption (i.e. COL), (B) excursion angle {phi}, (C) stride frequency f and (D) mean muscle force generated per step, as estimated by the LiMb model, versus speed. (E) The rate of muscle force generation, predicted by the LiMb model, versus the observed rate of oxygen consumption. The estimated rate of force production is a product of mean muscle force per step (D) and step frequency (2f; C).





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